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ANFIS Controller for Non-holonomic Robots

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Author(s): Ting Wang | Christophe Sabourin | Kurosh Madan

Journal: Majlesi Journal of Electrical Engineering
ISSN 2008-1413

Volume: 5;
Issue: 2;
Start page: 31;
Date: 2011;
Original page

Keywords: ANFIS controller | nonholonomic | multi-robot

ABSTRACT
In this paper, a control strategy for a non-holonomic robot based on an Adaptive Neural Fuzzy Inference System is proposed. The neuro-controller makes it possible for the robot to track a given reference trajectory. After a short introduction about Adaptive Neural Fuzzy Inference System, the control strategy which is used on our virtual non-holonomic robot is described. And finally, the simulations’ results where the robot has to pass into a narrow path and also the first validation results concerning the implementation of the proposed concepts on a real robot is given
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